JPS62151239A - Forging robot - Google Patents

Abstract

PURPOSE:To absorb an external force at the time of forging, and to prevent a damage of a device by switching a forward and backward motion main cylinder of a forging robot horizontal arm for bringing a tip clipper to a position control, a forward and backward motion, and a rotation, to a servo and a free hydraulic circuit. CONSTITUTION:A horizontal arm 20 of a forging robot B of a roller rolling type forging machine is brought to a position control in the right and left directions and in the upper and lower directions by a rotation by a motor of a wheel 5 on a rail 3, and a cylinder 18, respectively, and moved forward and backward by a motion of a pinion 28 by a main cylinder 26. Also, by a motor 58, a tip clipper 42 is rotated, and it is opened and closed by a hydraulic pressure. A quick forward and backward motion of the horizontal arm 20 is operated by a solenoid intermittent valve 64 of a servo circuit and a servo valve 63, but when a forging material has come to a prescribed bite position, it is switched to a relief oil circuit 71, oil of a pressure reducing valve 65 brings the main cylinder 26 to a fine operation or a release by an operation by a changeover valve 70 of check valves 68, 69, and a combination of a solenoid changeover valve 66, and a forging shock is relaxed. In this regard, an arm shaft 29 is also brought to a hydraulic buffer and an external force is absorbed, and a damage of a device is prevented.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention grips a rod-shaped material and moves the material one after another between the grooves of a pair of rolling rolls each having a plurality of grooves formed on the outer periphery. This invention relates to a forging robot that performs rolling.

[Prior art and its problems] A rod-shaped material is inserted between a pair of rolling rolls on which a plurality of grooves are formed and rolled, and the material is moved to the next groove in each step to roll the material. In a roll forging machine that sequentially forges the material into a desired shape, the device that sequentially moves the material to the next hole has conventionally been operated manually, but it is difficult and dangerous work, so it is no longer possible to do so. Further labor savings were desired.

Therefore, it is conceivable to have a versatile robot, which is commonly used for assembly work, grip the material and perform predetermined movement work. However, in the above-mentioned rolling operation, it is necessary to have the robot grip the material and insert the material between the rolling rolls, so the strong rotational force of the rolling rolls passes through the material to the robot, and the robot absorbs the external force. Therefore, conventional general-purpose robots could not meet such special uses.

[Objects of the Invention and Means for Achieving the Same] The present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to provide a forging robot that can be used to move materials during roll forging.

In order to achieve the object, the forging robot of the present invention has a horizontal arm with a gripper disposed at the tip for gripping the material supported on the machine frame so as to be movable forward and backward, and a main cylinder is connected to the horizontal arm. The hydraulic circuit for the main cylinder is a servo control hydraulic circuit that moves the horizontal arm forward and backward under the control of a servo valve, and a servo control hydraulic circuit that makes the hydraulic load on the main cylinder virtually zero so that the horizontal arm can freely move backward by external force. A free hydraulic circuit is provided, and after the horizontal arm is advanced by the servo control hydraulic circuit, this is switched to the free hydraulic circuit.

[Function] The gripper grips the material and advances the horizontal arm by servo control, and when the material is interposed between the rolling rolls, the free hydraulic circuit absorbs the external force.

[Example].

Next, one embodiment of the present invention will be described with reference to the drawings.

FIGS. 1 and 2 show the entire rolling roll family fiA and forging robot B, and FIGS. 3 and 4 show enlarged views of the main parts thereof. C indicates a conveyor for carrying in the material 1, and D indicates a conveyor for carrying out the processed material. In the rolling roll device A, a pair of rolling rolls 2, 2 rotate in the direction of the arrow in response to a command from a controller (not shown). As shown in the figure, the rolling rolls 2, 2 are notched semicircumferentially, and when the notches face each other, the material 1 is inserted between both rolls and then rotated in the direction of the arrow. It is sandwiched between both rolls.

The forging robot B is installed on a cart 4 that runs up the rails 3 and 3. The truck 4 includes wheels 5, 5, . . . and a motor 6 for running. Further, locking mechanisms 7, 7, .
A locking mechanism is provided in which the locking rod 8 hangs down by the operation of a hydraulic cylinder to prevent the carriage 4 from moving. Guide rails 9, 9 are provided in parallel inside both side edges of the truck 4, and linear bearing mechanisms 11, 11, etc. are provided so that the underframe 10 can freely slide along the guide rails 9, 9. The underframe 1
0 is supported. 12 is a hydraulic cylinder provided on the trolley 4 for sliding the underframe 10; 13.13 is the underframe 10;
A cylindrical body 14 in the shape of a rectangular cylinder is located at the center of the 0-car frame lO, which is a stopper provided on the cart 4 to limit the range of movement of the car.
A column 16, which is integrally suspended from the machine frame 15, is inserted into the cylindrical body, and is supported by a linear bearing mechanism 17 provided on the cylindrical body 14 so as to be freely raised and lowered. 1
Reference numeral 8 denotes a hydraulic cylinder installed perpendicularly to the underframe 10 to move the machine frame 15 up and down. Reference numeral 20 denotes a horizontal arm that is supported by the machine frame 15 so as to be freely movable and retractable, and the horizontal arm has guide rails 22 and 22 fixed to both sides of a square pipe 21, as shown in FIGS. 5 to 7. Linear bearing mechanisms 23, 23 are provided on the machine frame 15 so as to sandwich the guide rails. A rack 24 is fixed horizontally to the upper surface of the horizontal arm 20, and a rack 25 is fixed to the lower surface of the ceiling of the machine frame 15 so as to face the rack 24 at a regular interval. 26
A main cylinder is fixed to the machine frame 15, and a pinion 28 is rotatably supported at the tip of a piston rod 27 of the cylinder, and the pinion 28 is meshed with both racks 24 and 25.

Therefore, the main cylinder 26 operates and the pinion 28 rolls between both racks 24 and 25, causing the horizontal arm 2
0 can move forward and backward a distance twice the distance that the piston rod 27 moves forward and backward. Inside the horizontal arm 20 is a hollow cylindrical arm 2.
9 is supported rotatably and movably forward and backward. That is,
Cylindrical washers 30.31 are fixedly installed near the tip end and the retreating side of the horizontal arm 20, respectively, and bearings 32.33 are arranged in the cylindrical washers 30.31 so that the sleeves 34 and 35 can rotate freely, respectively. As well as supporting, the sleeves 34,35 form axial N (splines) 36, 37 on their inner circumferential surfaces.

The axial grooves 36 and 37 are formed on the outer periphery of the arm shaft 29.
Axial grooves 3g and 39 are formed to mesh with the horizontal arms 20, so that the arm shaft 29 is supported between the horizontal arms 20 so as to be able to move forward and backward and to rotate freely. A cylindrical gripper case 41 is fixed to the tip of the arm shaft 29 with screws 40. 42 is a pair of fingers 4 with a support shaft 43
4.44 is a gripper which is pivotally mounted to be openable and closable.The gripper has a link 46.46 connected to the base end of the finger 44.44 via a pin 45.45, and the other end of the link 46.46 is connected to a pin 47. It is pivotally connected to the tip of the spindle 48 by a screw. The spindle 48 is inserted into the arm shaft 29 so as to be freely movable forward and backward. 49 is a cylinder formed in the arm shaft 29 for moving the spindle 48 forward and backward, and 50 is a piston formed at the rear end of the spindle 48.

Reference numerals 51 and 52 denote oil supply holes formed in the arm shaft 29 so as to communicate with the front and rear ends of the cylinder 49, respectively.

Further, 53 is a cushion cylinder formed on the inner periphery of the rear sleeve 35, and 54 is a piston fixed to the outer periphery of the arm shaft 29 near the rear end and slidable in the cushion cylinder 53. The tip thereof communicates with a hydraulic circuit, which will be described later, through a large-diameter communication hole 55 that opens at the rear of the piston 54.

A hydraulic motor 56 is fixed to the rear end of the horizontal arm 20 with a screw 57 in order to rotate the arm shaft 29 via the sleeve 35, and a gear 5 is attached to the rotation shaft of the hydraulic motor.
8 is fixed, and the gear 58 is meshed with a gear 59 formed on the outer periphery of the sleeve 35. In addition, 60 in FIG. 2 indicates a hydraulic power source unit consisting of an oil tank, a hydraulic pump, etc. provided on the trolley 4, and 61 in FIG. 1 indicates a potentiometer for detecting the advanced position of the horizontal arm 20. Although position detection potentiometers are not shown, there are other potentiometers for detecting the height of the machine frame 15 and for detecting the position of the underframe 10 on the truck 4, respectively.

Next, according to FIGS. 8 and 9, the main cylinder 26
The servo control hydraulic circuit and free hydraulic circuit that control this will be explained. In the figure, 62 is a hydraulic power source, 63 is a servo valve connected to this hydraulic power source, and 64 is an electromagnetic intermittent valve provided between the secondary side of this servo valve and the main cylinder 26. In addition, a portion 71 surrounded by a two-dot chain line in the figure shows a free hydraulic circuit.

65 is a pressure reducing valve connected to the hydraulic power source 62, and 66 is a pilot operated check valve 68°6 on its secondary side and oil tank 67.
The electromagnetic switching valve 9 continues, and 70 is a switching valve that switches the pilot oil pressure for the pilot operation check valves 68 and 69, and the secondary sides of the pilot operation checks 068 and 69 communicate with the main cylinder 26, respectively.

Further, 72 and 73 are relief valves that are installed in the pressure supply path of the main cylinder 26 to prevent abnormally high pressure, and 74 is a relief valve that is activated when an abnormal signal is detected in connection with the rolling roll device A. This is a solenoid valve for preventing interference accidents.

Further, FIG. 10 shows the hydraulic circuit of the cushion cylinder 53. In the figure, 75 is a cushion pressure switching solenoid valve connected to the hydraulic power source 62, 76 is a pressure reducing valve on the high pressure side, 77 is a relief valve on the high pressure side, 78 is a pressure reducing valve on the low pressure side, and 79 is a relief valve on the low pressure side. It is. In this case, the pressure reducing valve 78 and the relief valve 79 on the low pressure side are both set to a lower set pressure by their springs than the pressure reducing valve 76 and the relief valve 77 on the high pressure side.

In the forging robot configured in this way, the carriage 4 is fixed on the rail 3°3 by the locking mechanisms 7, 7, . Further, the machine frame 15 is moved up and down by the operation of the hydraulic cylinder 18, and the horizontal arm 20 is moved forward and backward by the operation of the main cylinder 26, and the material 1 on the conveyor C is gripped by the gripper 42. At this time, the main cylinder The hydraulic circuit 26 is in the state of the servo-controlled hydraulic circuit shown in FIG.
The advancing position of the gripper 42 is detected by the potentiometer 61, and the signal is fed back from the controller to control the servo valve 63, supplying the required hydraulic pressure to the main cylinder 26, and operating the horizontal arm 20 in the required direction to move the gripper 42 to the target position. Make it still. At this time, the hydraulic circuit of the cushion cylinder 53 is switched to the high pressure side as shown in FIG. 10, and the cushion cylinder 53 is firmly maintained so as not to contract unless a strong external force is applied. Then, by operating the cylinder 49, the spindle 4
B is pulled to close the gripper fingers 44, 44 and grip the material 1. Then, this material 1 is rolled into rolling machine A.
The cutout portion is interposed between the opposing rolling rolls 2, 2. (The state indicated by the two-dot chain line in Figure 1). At this time, the workpiece l is advanced to the commanded position of the controller and stopped by the action of the servo-controlled hydraulic circuit. Thereafter, the hydraulic circuit of the main cylinder 26 is switched to the state shown in FIG. 9, that is, the free hydraulic circuit, and at the same time the cushion cylinder 5
3 is switched to the low pressure side by the action of the switching solenoid valve 75. The rolling rolls 2.2 then rotate in the direction of the arrows in FIG. 1, clamping the blank t into its groove and plastically deforming the blank 1.

At this time, since the gripper 42 continues to grip the material 1, the horizontal arm 20 is strongly pushed back from the rolling rolls 2, 2 through the material 1. For this purpose, the pinion 28. The piston rod 27 is pushed back and the piston of the main cylinder 26 is pushed rearward. At this time, in the free hydraulic circuit 71, the check valves 68 and 69 are in the open state due to the action of the switching valve 70, as shown in FIG.
A low hydraulic pressure is applied through the main cylinder 5, and the rear chamber of the piston communicates with an oil tank 67, so that the hydraulic load on the main cylinder is substantially zero. Therefore, oil in the piston rear chamber is pushed back to the oil tank 67 through the check valve 68, and oil is replenished into the piston front chamber through the check valve 69. Therefore, the powerful rotational force of the rolling rolls 2, 2 is absorbed thereby, and the external force does not reach below the machine frame 15. Moreover, an impact force is applied to the arm shaft 29 at the moment when the rolling roll 2.degree. 2 bites into the material 1, but the impact force is absorbed by the contraction of the cushion cylinder 53. That is, at that time, the hydraulic circuit of the cushion cylinder 53 is switched to the low pressure side, and the oil in the cushion cylinder 53 can return to the oil tank through the relief valve 79 even at low pressure, so it becomes am and the rack 24.25
．． Excessive a for pinion 28 etc.! ! This prevents the application of force. When the first rolling of the material 1 is completed in this manner, the hydraulic motor 56 is operated to rotate the arm shaft 35 by 90 degrees, thereby rotating the material 1 by 90 degrees. Then, this material 1 is again inserted between the rolling rolls 2 and 2 and rolled. In this case, when the horizontal arm 20 moves forward and backward, the main cylinder 26 is switched to a servo-controlled hydraulic circuit, and during rolling, this is switched to a free hydraulic circuit to absorb external forces. Since a plurality of rows of holes are formed on the outer periphery of the rolls 2, 2, etc. with varying sizes in sequence, the underframe 10 is moved horizontally according to the necessity of the material 1, and a gripper 42 is used to remove the material 1. Rolling is performed one after another while holding the roll.

[Effects of the Invention] As described in the embodiments above, the forging robot of the present invention is capable of absorbing external force by allowing the main cylinder that moves the horizontal arm to move forward and backward to switch between the servo control hydraulic circuit and the free hydraulic circuit. 1; Because it was destroyed, the destruction can be avoided. Another feature of servo control is that the stop position can be easily changed.

Furthermore, the horizontal arm can move forward and backward at high speed using a so-called double speed mechanism of the rack and pinion, and a cushion cylinder is provided to buffer the impact force, resulting in high throughput due to high speed operation. be.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, in which Fig. 1 is a front view of the entire equipment, Fig. 2 is a plan view thereof, Fig. 3 is a front view of a partial longitudinal section of a forging robot, and Fig. 4 is a front view of the forging robot. Its plan, No. 5
The figure is an enlarged vertical cross-sectional view of the front half of the horizontal arm, FIG. 6 is an enlarged vertical cross-sectional view of the rear half of the horizontal arm, FIG. 7 is a cross-sectional view taken along the line X-X in FIG. 9 is a hydraulic circuit diagram of the main cylinder, FIG. 9 is a hydraulic circuit diagram of the main cylinder when switched to the free hydraulic circuit, and FIG. 10 is a hydraulic circuit diagram of the cushion cylinder. A...Rolling roll device, B...Forging robot, 1...Material, 15...Machine frame, 20...Horizontal arm, 24° 25...Rack, 26...Main cylinder, 28...Pinion, 29...Arm shaft, 32.33...Bearing. 36, 37.38.39... axial groove, 42...
・Gripper. 53...Cushion cylinder, 56...Hydraulic motor. 61... Potentiometer, 63... Servo valve, 71... Free hydraulic circuit, 65... Pressure reducing valve,
68.69...Check valve, 70...Switching valve,
76, 78...pressure reducing valve, 77°79...relief valve.

Claims (1)

[Scope of Claims] 1. In a forging robot in which a horizontal arm having a gripper for gripping a material at its tip is supported on a machine frame so as to be movable forward and backward, and a main cylinder is connected to the horizontal arm, the hydraulic circuit of the main cylinder is , a servo-controlled hydraulic circuit that moves the horizontal arm forward and backward under the control of a servo valve, and a free hydraulic circuit that puts virtually no hydraulic load on the main cylinder and allows the horizontal arm to freely move backward by external force. A forging robot, characterized in that the horizontal arm is advanced by the servo-controlled hydraulic circuit and then switched to a free hydraulic circuit. 2. A rack is fixed parallel to the facing surfaces of the machine frame and the horizontal arm, and a pinion rotatably supported at the tip of the piston rod of the main cylinder is engaged with both racks, thereby linking the main cylinder to the horizontal arm. At the same time, an arm shaft having a gripper fixed at the tip thereof is inserted into the horizontal arm, and the arm shaft is supported by a cushion cylinder formed in the horizontal arm so as to be elastically movable forward and backward. A forging robot according to claim 1. 3. The forging robot according to claim 2, further comprising a hydraulic motor that rotates an arm shaft in the horizontal arm.